Folded camera with continuously adaptive zoom factor

ABSTRACT

Folded Tele cameras comprising an optical path folding element (OPFE) for folding a first optical path OP1 to a second optical path OP2, a lens including N=8 lens elements, the lens being divided into three lens groups numbered, in order from an object side of the lens, G1, G2 and G3, and an image sensor, wherein G1 and G3 are included in a single G13 carrier, wherein G2 is included in a G2 carrier, wherein both the G13 carrier and the G2 carrier include rails for defining the position of G2 relative to G13, wherein the Tele camera is configured to change a zoom factor continuously between a minimum zoom factor ZFMIN and a maximum zoom factor ZFMAX by moving the G2 carrier relative to the G13 carrier and by moving the G13 carrier relative to the image sensor, and wherein an effective focal length (EFL) is 7.5 mm&lt;EFL&lt;50 mm. The G2 carrier may be positioned by a lens transporter within the G13 carrier at a particular zoom factor to form a lens pair to enable optical investigation and/or transporting of the lens pair.

CROSS REFERENCE TO RELATED APPLICATIONS

This is a 371 application from international patent application PCT/IB2021/061078 filed Nov. 29, 2021, and is related to and claims priority from U.S. Provisional Patent Application No. 63/119,853 filed on 1 Dec. 2020, which is expressly incorporated herein by reference in its entirety.

FIELD

Embodiments disclosed herein relate in general to digital cameras, and more particularly, to multi-aperture zoom digital cameras with a folded continuous zoom lens for use in handheld electronic mobile devices such as smartphones.

Definitions

The following symbols and abbreviations are used, all of terms known in the art:

Total track length (TTL): the maximal distance, measured along an axis parallel to the optical axis of a lens, between a point of the front surface Si of a first lens element L1 and an image sensor, when the system is focused to an infinity object distance.

Back focal length (BFL): the minimal distance, measured along an axis parallel to the optical axis of a lens, between a point of the rear surface S2N of the last lens element LN and an image sensor, when the system is focused to an infinity object distance.

Effective focal length (EFL): in a lens (or an assembly of lens elements L1 to LN), the distance between a rear principal point V and a rear focal point F′ of the lens.

f-number (f/#): the ratio of the EFL to an entrance pupil diameter.

BACKGROUND

Multi-aperture cameras (or “multi-cameras”, of which a “dual-camera” having two cameras is an example) are now standard for handheld electronic mobile devices (or simply “mobile devices”, for example smartphones, tablets, etc.). A multi-camera usually comprises a wide field-of-view FOV camera (“Wide” or “W” camera with FOV_(W)), and at least one additional camera with a narrower (than FOV_(W)) field-of-view (Telephoto or “T” camera, also referred to as “TC”, with FOV_(T)). In general, the spatial resolution of the TC is constant (or “fixed”) and may be for example 3, 5, or 10 times higher than the spatial resolution of the W camera. This is referred to as the TC having a fixed “zoom factor” (ZF) of, respectively, 3, 5, or 10.

As an example, consider a dual-camera having a W camera and a TC with ZF of 5. When zooming onto a scene, one may in general use W camera image data, which is digitally zoomed up to a ZF of 5. For a ZF≥5, one may use TC image data, digitally zoomed for ZF>5. In some scenes, a high ZF is desired for capturing scene segments with high resolution. In other scenes, a high ZF is undesired, as only (digitally zoomed) W camera image data may be available. This shows the trade-off between the applicability range of the TC on the one hand (which is larger for TCs with smaller ZF) and the TC's zoom capability on the other hand (which is larger for TCs with larger ZF). In general, both large applicability range and large zoom capability are beneficial. This cannot be achieved in known TCs having a fixed ZF.

For a given image sensor included in a TC, the TC's ZF is determined solely by its effective focal length (EFL). A TC that can switch between two discrete EFLs, EFL₁ and EFL₂, for providing two discrete ZFs, ZF₁ and ZF₂, is described for example in co-owned PCT patent PCT/IB20202/051405.

To achieve both large applicability range and large zoom capability in a single Tele camera, there is need and it would be beneficial to have a Tele camera that can provide all ZFs between a minimum zoom factor ZF_(MIN) and a maximum zoom factor ZF_(MAX) continuously.

SUMMARY

In various embodiments, there are provided cameras comprising an optical path folding element (OPFE) for folding a first optical path OP1 to a second optical path OP2, a lens including N lens elements, the lens being divided into three lens groups numbered, in order from an object side of the lens, G1, G2 and G3, and an image sensor, wherein the camera is a folded Tele camera, wherein G1 and G3 are included in a single G13 carrier, wherein G2 is included in a G2 carrier, wherein the Tele camera is configured to change a zoom factor continuously between ZF_(MIN) and ZF_(MAX) by moving the G2 carrier relative to the G13 carrier and by moving the G13 carrier relative to the image sensor, and wherein an effective focal length is 7.5 mm<EFL<50 mm.

In some embodiments, both the G13 carrier and the G2 carrier include rails for defining the position of G2 relative to G13.

In some embodiments, for switching from ZF_(MIN) and ZF_(MAX), the movement of the G13 carrier with respect to the image sensor is over a stroke larger than 2 mm and smaller than 15 mm, and the movement of the G2 carrier with respect to the image sensor is over a stroke larger than 0.1 mm and smaller than 5 mm.

In some embodiments, the folded Tele camera is configured to be focused by moving lens groups G1+G2+G3 together as one lens.

In some embodiments, N=8.

In some embodiments, the folded Tele camera is included in a camera module having a module height H_(M), wherein the lens has a lens aperture height H_(A), wherein both H_(M) and H_(A) are measured along an axis parallel to OP1 and wherein H_(M)<H_(A)+3 mm. In some embodiments, H_(M)<H_(A)+2 mm.

In some embodiments, the lens is a cut lens with a cut lens aperture height H_(A-CUT) measured along an axis parallel to OP1 and a lens aperture width W_(A) measured along an axis perpendicular to both OP1 and OP2, wherein W_(A) is larger than H_(A-CUT) by between 5% and 50%. In some embodiments, W_(A)≥1.1 H_(A-CUT). In some embodiments, W_(A)≥1.2 H_(A-CUT).

In some embodiments, lens groups G1 and G2 include 3 lens elements and lens group G3 includes 2 lens elements.

In some embodiments, lens groups G1 and G2 have positive lens power and lens group G3 has negative lens power.

In some embodiments, the EFL is switched continuously between a minimal effective focal length EFL_(MIN) corresponding to ZF_(MIN) and a maximal effective focal length EFL_(MAX) corresponding to ZF_(MAX), wherein a ratio EFL_(MAX)/EFL_(MIN)>1.5. In some embodiments, EFL_(MAX)/EFL_(MIN)>1.75. In some embodiments, EFL_(MIN) is in the range of 10 mm-25 mm and EFL_(MAX) is in the range of 20 mm-50 mm.

In some embodiments, the folded Tele camera has an aperture diameter DA that not depend on the EFL. In some embodiments, the folded Tele camera has a f number f/#, wherein a minimal f number f/#_(MIN)=EFL_(MIN)/DA and wherein f/#=f/#_(MIN)+(EFL−EFL_(MIN))/DA. In some embodiments, f/#_(MIN)=EFL_(MIN)/DA and f/#_(MIN) is <3.

In some embodiments, f/#_(MIN) is <2.5.

In some embodiments, the OPFE is a prism. In some embodiments, the OPFE is configured to be rotated for optical image stabilization (OIS) along two rotation axes, a first rotation axis parallel to OP1 and a second rotation axis perpendicular to both OP1 and OP2. In some embodiments, the prism is a cut prism with a prism optical height H_(P-CUT) measured along an axis parallel to OP1 and a prism optical width W_(P) measured along an axis perpendicular to both OP1 and OP2, and wherein W_(P) is larger than H_(P-CUT) by between 5% and 30%.

In some embodiments, the G2 and G13 carriers are movable by, respectively, G2 and G13 actuators in the form of voice coil motors (VCMs).

In some embodiments, the VCM of the G13 actuator includes three or more magnets. In some embodiments, a maximum lens stroke S is required for switching from EFL_(MIN) to EFL_(MAX) or vice versa, wherein a ratio R of the EFL difference and S is R=(EFL_(MAX)−EFL_(MIN))/S, and wherein R>1.75. In some embodiments, R>2.

In some embodiments, a folded Tele camera as above or below is included in a smartphone.

In an embodiment, there is provided a lens transporter for positioning the G2 carrier within the G13 carrier at a particular zoom factor to form a lens pair, wherein the lens transporter enables optical investigation and/or transporting of the lens pair.

BRIEF DESCRIPTION OF THE DRAWINGS

Non-limiting examples of embodiments disclosed herein are described below with reference to figures attached hereto that are listed following this paragraph. Identical structures, elements or parts that appear in more than one figure are generally labeled with a same numeral in all the figures in which they appear. If identical elements are shown but numbered in only one figure, it is assumed that they have the same number in all figures in which they appear. The drawings and descriptions are meant to illuminate and clarify embodiments disclosed herein and should not be considered limiting in any way. In the drawings:

FIG. 1 shows schematically a general perspective view of a dual-camera, comprising an upright camera and a zoom folded camera;

FIG. 2A shows schematically an embodiment of a folded continuous zoom Tele camera (“FCZT camera”) disclosed herein in a first, minimal zoom state having an EFL_(MIN);

FIG. 2B shows the FCZT CAMERA of FIG. 2A schematically in a second, maximal zoom state having an EFL_(MAX);

FIG. 3A shows an embodiment of a camera module including a FCZT camera as in FIGS. 2A, 2B in a perspective view;

FIG. 3B shows the camera module of FIG. 3A in a side view;

FIG. 3C shows the camera module of FIG. 3A in a cross-sectional view;

FIG. 3D shows the camera module of FIG. 3A in a perspective view without a top shield;

FIG. 4A shows the camera module of FIG. 3A in one exploded view;

FIG. 4B shows the camera module of FIG. 3A in another exploded view;

FIG. 4C shows details of the exploded camera module of FIG. 4A in one perspective view;

FIG. 4D shows details of the exploded camera module of FIG. 4A in another perspective view;

FIG. 5A shows parts of the camera module of FIG. 3A in a perspective view;

FIG. 5B shows parts of camera module FIG. 3A in yet another perspective view;

FIG. 6A shows the G13 carrier and the G2 carrier of the FCZT camera of FIGS. 3A-3C in a first exploded view;

FIG. 6B the G13 carrier and the G2 carrier of the FCZT camera of FIGS. 3A-3C in a second exploded view;

FIG. 7A shows the G13 carrier and the G2 carrier of the FCZT camera of FIGS. 3A-3C in a first perspective view;

FIG. 7B shows the G13 carrier and the G2 carrier of the FCZT camera of FIGS. 3A-3C in a second perspective view;

FIG. 8A shows a lens transporter for testing and shipping a lens of a FCZT CAMERA disclosed herein;

FIG. 8B shows the lens transporter of FIG. 8A in an exploded view;

FIG. 9A shows an optical lens system in a first, minimal zoom state having an EFL=EFL_(MIN)=15 mm;

FIG. 9B shows the optical lens system of FIG. 9A in a second, intermediate zoom state having an EFL=22.5 mm;

FIG. 9C shows the optical lens system of FIG. 9A in a third, maximum zoom state having an EFL=EFL_(MAX)=30 mm;

FIG. 10 shows an example a cut lens as known in the art;

FIG. 11 shows an example a cut prism as known in the art.

DETAILED DESCRIPTION

FIG. 1 illustrates a dual-camera 150 that comprises a folded continuous zoom T camera (or “FCZT camera”) 100 as disclosed herein together with a W camera 130. T camera 100 comprises an OPFE 102 e.g. a prism or mirror, a lens 110 with a plurality of lens elements (not visible in this representation) and an image sensor 106. OPFE folds an optical path from a first optical path 112 to a second optical path 114. W camera 130 comprises a lens 134 with an optical axis 136 and an image sensor 138.

FIG. 2A shows schematically an embodiment of a FCZT camera disclosed herein and numbered 200 in a first, minimal zoom state (with a minimal zoom factor ZF_(MIN)) having a minimal EFL=EFL_(MIN). EFL_(MIN) corresponds to a minimal ZF_(MIN). FCZT camera 200 comprises an OPFE 202, a lens 204, an optical element 206 and an image sensor 208. Camera 200 is shown with ray tracing. Optical element 206 may be optional and may be for example an infra-red (IR) filter, and/or a glass image sensor dust cover. Lens 204 is divided in three lens groups (“G1”, “G2” and “G3”), wherein each lens group may include one or more lens elements. All lens elements included in each of G1, G2 and G3 are fixedly coupled to each other, meaning that the lens elements included in each of G1, G2 and G3 can move with respect to other components included in camera 200 (such as image sensor 208) but not with respect to each other within the group. Further, G1 and G3 are fixedly coupled and move together as one group (group “G13” see marked). G2 can move independently of G13 group.

FIG. 2B shows FCZT camera 200 schematically in a second, maximal zoom state (with a maximal zoom factor ZF_(MAX)) having a maximal EFL EFL_(MAX). The transition or switching from EFL_(MAX) to EFL_(MIN) can be performed continuously, i.e. camera 200 can be switched to any other ZF that satisfies ZF_(MIN)≤ZF≤ZF_(MAX) (or EFL_(MIN)≤EFL≤EFL_(MAX)). This functionality is known in zoom camera lenses that are used for example in relatively large handheld camera devices such as digital single-lens reflex (DSLR) cameras. Camera 200 can provide this known functionality while having size dimensions that allow it be integrated in a camera module such as camera module 300, which fits the size constraints of handheld electronic mobile devices such as smartphones.

For switching ZF, G13 is moved with a large stroke, (e.g. of 3 mm or more, see FIGS. 9A-9C) with respect to G2, OPFE 202 and image sensor 208. G2 is moved with a small stroke (e.g. of 0.15 mm or more, see FIG. 9A-9C) with respect to G13, OPFE 202 and image sensor 208. For focusing, G13 and G2 are moved together as one lens with respect to image sensor 208.

FIG. 3A shows an embodiment of a camera module numbered 300 and including a FCZT camera such as FCZT camera 200 in a perspective view. FIG. 3B shows camera module 300 in a side view. FIG. 3C shows camera module 300 in a cross-sectional view.

Camera module 300 comprises an OPFE module 340 with an OPFE 304 (e.g. a prism), and a lens 306 divided into three lens groups G1-G3, G1 312, G2 314 and G3 316. Camera module 300 further comprises a housing 302, a top shield 303, a sensor module 350 that includes an image sensor 308, a sensor module housing 352, a flex cable 354 and an optional optical element 307. Camera module 300 has a module height H_(M) and includes a camera aperture 309 with an aperture height H_(A). Aperture height H_(A) is determined by the optical height (“H_(L)”) of the lens element that determines camera 200's aperture stop. Module height H_(M) and aperture height H_(A) are both measured along the y-axis in the coordinate system shown, see FIG. 3B and FIGS. 2A-2B. For example, H_(M) may be 7.5 mm and H_(A) may be 5.9 mm. In general, H_(M) may be in the range H_(M)=5 mm-15 mm and H_(A) may be in the range H_(A)=3 mm-10 mm.

Lens 306 may be a “cut” (or “D-cut”) lens a s known in the art and shown in FIG. 10A. A cut lens has one or more lens elements Li that are cut, i.e. that have an optical width (“W_(Li)”) measured along a first axis perpendicular to the lens optical axis that is larger than an optical height (“H_(Li-CUT)”) measured along a second axis perpendicular to the lens optical axis, i.e. W_(Li)>H_(Li-CUT) (see FIG. 10A and cut lens G1 312 in FIG. 4C). For example, a D-cut ratio of a cut lens may be 0%-50%, meaning that W_(Li) may be larger than Hu by 0%-50%, i.e. W_(Li)=H_(Li-CUT)−1.5·H_(Li-CUT). The cutting may reduce module height H_(M) of the camera module above. This allows to realize a slim FCZT camera having a low H_(M) to render it compatible with smartphone size constraints and having a relatively large aperture area, which is beneficial for achieving a low f/#camera having a relatively large signal-to-noise ratio (“SNR”). One may refer to the difference between H_(M) and H_(A) as a “height penalty” (“P”) of the camera module, where P is to be minimized for a slim camera with relatively large SNR. Further design choices for minimizing penalty P are:

-   -   Top shield 303 may be made of metal and may have a low height         (measured along the y-axis) or thickness of about 0.05 mm-0.25         mm, and in particular about 0.1 mm-0.2 mm. In general, metal         parts have the benefit that they can be produced at lower height         than plastics part.     -   Yoke 400 is located (see FIG. 4D) at a bottom part of housing         302 with lowest height (measured along the y-axis) or thickness.         Yoke 400 may be made of a magnetic metal and may have a low         height of about 0.05 mm-0.25 mm.     -   As visible in FIG. 4C, a height of G13 carrier 320 and G2         carrier 330 is defined by H_(L). That is, G13 carrier 320 and G2         carrier 330 do not include any additional parts that have a         height which exceeds the height of a G1 barrel 322, a G2 barrel         332 and G3 barrel 324. For example, the height of G1 barrel 322         is given by the sum of H_(L), twice the G1 barrel thickness of         e.g. 0.1 mm-0.5 mm and two air gaps having an air gap height of         about 0.1 mm (a first air gap being located between G13 barrel         322 and top shield 303, a second air gap being located between         G13 barrel 322 and housing 302).     -   In some examples (not shown), prism 304 may be a cut prism as         known in the art and shown in FIG. 11 . A D-cut ratio of a cut         prism may for example be 0%-50%, i.e. a prism optical width         W_(P) may be larger than a prism optical height H_(P-CUT) by         0%-50%.

FIG. 3D shows camera module 300 from FIG. 3A-3C in a perspective view and without top shield 303. A tape 360 that includes several components (see below) is fixedly attached to camera module 300. G1 312, G2 314 and G3 316 are included in, respectively, G1 barrel 322 (part of G13 carrier 320), G2 barrel 332 (part of G2 carrier 330) and G3 barrel 324 (part of G13 carrier 320). The locations of G13 actuator 516 and a G2 actuator 730 are shown, although they are only partly visible here (but see FIGS. 7A-B). G13 actuator 516 comprises a G13 magnet module 710, a G13 coil module 720 and a G13 position sensor 518. G2 actuator 730 comprises a G2 magnet 732, a G2 coil 544 and a G2 position sensor 546. If not stated otherwise explicitly, all actuators described herein may be voice coil motors (“VCMs”).

FIG. 4A shows camera module 300 in one exploded view, with tape 360, G13 carrier 320, G2 carrier 330 and housing 302 visible. FIG. 4B shows camera module 300 from FIG. 4A in another exploded view. FIG. 4C shows camera module 300 in one perspective view. FIG. 4D shows camera module 300 in another perspective view. The description next refers to these figures.

Camera module 300 includes a cut lens G1 312 that has an optical width W_(L) measured along the x axis which is larger than an optical height H_(L-CUT) measured along the y axis (see FIG. 4C for coordinate system).

OPFE module 340 can perform OIS for compensating undesired handshake of a mobile device such as a smartphone that includes camera module 300. The OIS may be performed along two rotation axes, a yaw axis 356 and a pitch axis 358. OPFE module 340 includes a yaw stage 450 and a pitch stage 500. Yaw stage 450 includes a yaw stage housing 452, a first groove 454 and a second groove 456 for carrying pitch stage 500, a notch 458 for inserting pitch stage 500 into yaw stage 450, a yaw actuation magnet 462 (not visible here) and a sensing magnet 466. Pitch stage 500 includes a pitch stage housing 502, a first pin 504, a second pin 506 (not visible here) and a pitch magnet 512. The pins are located respectively in first groove 454 and second groove 456 and used to mediate the rotational motion of pitch stage 500. Pitch magnet 512 is divided into an actuation magnet 512 a and a sensing magnet 512 b, which enables a pitch position sensor 514 to be located outside of a pitch coil 513. This is beneficial, because pitch position sensor 514 is thus less influenced by the magnetic field and the heat that is induced when operating (i.e. driving a current through) pitch coil 513, improving its accuracy for sensing the position of pitch sensing magnet 512 b, which is the relevant magnetic field to be measured.

Tape 360 includes a yaw actuation coil 464 and a yaw position sensor 468 (FIG. 4B). Together with yaw actuation magnet 462 and yaw sensing magnet 466, yaw actuation coil 464 and a yaw position sensor 468 form a yaw stage actuator 460 that actuates a movement required for OIS along the yaw direction. Tape 360 further includes a G13 coil module 720 with four coils 720 a-720 d. A G13 magnet module 710 (see FIG. 7A), G13 position sensor 518 and G13 coil module 720 together form G13 actuator 516, which linearly actuates G13 carrier 320 along the optical axis of lens 306.

A G2-G13 mechanism 430 mediates the movement between G13 carrier 320 and G2 carrier 330. Mechanism 430 includes three G2 carrier grooves 432, 436 and 440 (not visible here, see FIG. 4D) that are included in G2 carrier 330, and three G13 carrier grooves 444, 446 and 448 that are included in G13 carrier 320. A first ball 434 is included in a first space defined by a first volume formed by G2 carrier groove 432 and G13 carrier groove 444, a second ball 438 is included in a second space defined by a second volume formed by G2 carrier groove 436 and G13 carrier groove 446 and a third ball 442 is included in a third space defined by a third volume formed by G2 carrier groove 440 and G13 carrier groove 448. The spaces form rails that are used to define the position of G2 relative to G13. The position of G2 relative to G13 defines the EFL (i.e. the ZF) of the camera.

A housing—G13 mechanism 402 mediates the movement between image sensor 308 (which is fixedly coupled to housing 302) and G13 carrier 320. The position of G13 relative to the image sensor defines the focus state of the camera. Mechanism 402 includes four G13 carrier grooves 403, 406, 410 and 414 (not visible here, see FIG. 4D) that are formed in in G13 carrier 320, and four housing grooves 418, 420, 422 and 424 that are formed in housing 302 (not all visible here, see FIG. 4B). A first ball 404 is included in a space formed by G13 carrier groove 403 and housing groove 418, a second ball 408 is included in a space formed by G13 carrier groove 406 and housing groove 420, a third ball 412 is included in a space formed by G13 carrier groove 410 and housing groove 422, and a fourth ball 416 is included in a space formed by G13 carrier groove 414 and housing groove 424. The spaces form rails that are used to define the position of G13 relative to housing 302 and image sensor 308.

Housing 302 includes a yoke 400, which, together with one yaw stage connector magnet 496 (see FIG. 5B) and two pitch stage connector magnets 492 and 494 (see FIG. 5B), connects yaw stage 450 and pitch stage 500 respectively to housing 302. Yoke 400 also connects housing 302 and G2 carrier 330 via two G2 carrier connector magnets 602 and 604 (see FIG. 6B).

As visible in FIG. 4D, bottom part of housing 302 includes besides yoke 400, also a plastic part 407. A stray light preventing pad 401 absorbs stray light, to prevent stray light from reaching image sensor 308. Housing 302 includes several notches or windows, see next. The notches allow the components that are located within the volume of housing 302 to communicate or interact with components that are located outside of the volume of housing 302:

-   -   A pitch notch 341: allows pitch magnet 512 located inside         housing 302 to communicate with pitch coil 513 and pitch         position sensor 514 located outside housing 302 (not visible         here, see FIG. 5A).     -   G2 actuator notch 543: allows G2 magnet 732 located inside         housing 302 to communicate with G2 coil 544 located outside         housing 302.     -   A G2 sensing notch 547: allows G2 magnet 732 located inside         housing 302 to communicate with G2 position sensor 546 located         outside housing 302.     -   A sensor window 351: allows light passing lens 306 to reach         image sensor 308.     -   A yaw sensing notch 469: allows yaw sensing magnet 466 located         inside housing 302 to communicate with yaw position sensor 468         located outside housing 302.     -   A yaw actuation notch 463: allows yaw actuation magnet 462         located inside housing 302 to communicate with yaw actuation         coil 464 located outside housing 302.     -   Four G13 carrier actuation notches 531 a-531 d: allow G13 magnet         module 710 located inside housing 302 to communicate with G13         coil module 720 located outside housing 302.     -   A G13 sensing notch 519: allows G13 magnet module 710 located         inside housing 302 to communicate with G13 position sensor 518         located outside housing 302.     -   Two pitch stage notches 486 and 488 (not visible here, see FIG.         5A): allow two pitch stage connector magnets 492 and 494 located         inside housing 302 to communicate with yoke 400 located outside         housing 302.     -   A yaw stage notch 490 (not visible here, see FIG. 5A): allows         yaw stage connector magnet 496 located inside housing 302 to         communicate with yoke 400 is located outside housing 302.

FIG. 5A shows parts of camera module 300 in one perspective view, while FIG. 5B shows them in another perspective view. Two pitch stage notches 486 and 488 and a yaw stage notch 490 are visible. The pitch stage notches allow pitch stage connector magnets 492 and 494 respectively to connect to yoke 400, so that a magnetic force attracts pitch stage 500 towards housing 302. The yaw stage notch allows yaw stage connector magnet 496 to connect to yoke 400, so that a magnetic force attracts pitch stage 500 towards housing 302. Yoke 400 extends over a significant bottom area of housing 302, as shown.

FIG. 6A shows G13 carrier 320 and G2 carrier 330 in a first exploded view. FIG. 6B shows G13 carrier 320 and G2 carrier 330 in a second exploded view. The movement of G2 carrier 330 is ball-guided by the three balls 434, 438 and 442. Two balls 438 and 442 are located at a first side (“2× balls”) and one ball 434 is located at a second side (“1× ball”). The 2× balls are located far from each other with respect to a length Lia of G13 carrier 320, e.g. a distance d between the balls 438 and 442 may be d>0.5·L₁₃ or d>0.75·L₁₃. Here, L₁₃=20 mm. This is beneficial as it allows high angular accuracy when switching between different ZFs. Here, “high angular accuracy” (e.g. an angular accuracy of less than 0.3 degree or even less than 0.1 degree) means that a given positioning error of positioning G13 carrier 320 and G2 carrier 330 relative to each other results in a small angular error (i.e. an error within the angular accuracy) only. The 1× ball may be located close to the center of G13 carrier 320. Here, “close to the center” may mean not farther than a distance d of d<0.25·L₁₃ from the center of G13 carrier 320.

FIG. 7A shows G13 carrier 320 and G2 carrier 330 in a first perspective view. FIG. 7B shows G13 carrier 320 and G2 carrier 330 in a second perspective view. The z axis from the coordinate system of FIG. 3B-3C is shown. The optical axis of lens 306 is substantially parallel to the z axis. G2 magnet 732 includes an actuation magnet part 732 a and a sensing magnet part 732 b. Measured along an axis parallel to the z axis, the actuation magnet part is larger than the sensing magnet part. An advantage of dividing G2 magnet 732 into an actuation part and a sensing part is that G2 position sensor 546 can be located outside of G2 coil 544. This is beneficial, since G2 position sensor 546 is less impacted by both the magnetic field created by coil 544 as well as by G2 coil 544's elevated temperature resulting from driving an electric current through G2 coil 544.

G2 actuator 730 actuates G2 carrier 330 linearly along the optical axis of lens 306 by relatively small actuation strokes (or ranges) with respect to image sensor 308, for example 0.2 mm-3 mm, and in particular over 1.5 mm.

G13 magnet module 710 includes five magnets 710 a-710 e having five respective magnet polarizations 712 a-712 e as shown. Together with G13 coil module 720 and G13 position sensor 518, G13 magnet module 710 forms G13 actuator 516. G13 actuator 516 actuates G13 carrier 320 along relatively large actuation strokes (or ranges) with respect to image sensor 308 for example 2 mm-15 mm, and in particular over 5 mm, and with large magnet slope (or gradient) for robust actuation control. Such a VCM is disclosed in the position sensing unit and the VCM shown in FIG. 5 of the co-owned international patent application PCT/IB2021/056693, which is incorporated herein by reference in its entirety.

The movement required for switching FCZT camera 200 between two different ZFs in a continuous set of ZF states can be described in two steps. For simplicity and exemplarily, we refer here to switching optical lens system 900 from ZF_(MIN) (see FIG. 9A) to ZF_(MAX) (see FIG. 9C):

-   -   1. In a first step, G13 actuator 516 moves G13 carrier 320 along         a relatively large G13 carrier stroke with respect to image         sensor 308.     -   2. In this first step, G2 carrier 330 does not move with respect         to image sensor 308. This is achieved by G2 actuator 730 keeping         G2 carrier 330 in a same distance from image sensor 308. The         movement of G13 carrier 320 with respect to image sensor 308         means that here is a relative movement of G13 carrier 320         (including G13 lens group) and G2 carrier 330 (including G2 lens         group). As can be seen in FIG. 9A-C, this relative movement         between G13 and G2 defines a ZF of FCZT camera 200.     -   3. In a second step, G2 actuator 730 moves G2 carrier 330 along         a relatively small stroke with respect to image sensor 308. It         is noted that the movement described in the first step and the         movement described in the second step may be performed         sequentially or simultaneously. For switching FCZT camera 200 to         any other ZF, the same movements are performed, but with         different stroke values.

FIG. 8A shows a lens transporter 800 for testing and shipping a lens of a FCZT camera such as lens 204 of FCZT camera 200 as disclosed herein. Lens transporter 800 includes a fixture base 802, a preload cover 804 and a locker 806. FIG. 8B shows lens transporter 800 including a G13 carrier and a G2 carrier in an exploded view. Fixture base 802 includes a G13 groove locker 810. G13 groove locker 810 includes four lockers, 812, 814, 816 and 818, which enter G13 grooves 403, 406, 410 and 414 respectively. G13 groove locker 810 fixes the particular G13 carrier into fixture base 802, e.g. it prevents it from moving.

A particular pair of one G13 carrier such as G13 carrier 320 and one G2 carrier such as G2 carrier 330 can be inserted into lens transporter 800. The particular G2 carrier and the particular G13 carrier form a particular “lens pair”. Aperture 309 of lens 306 is visible and is not covered by any component included in lens transporter 800. When lens transporter 800 with a particular lens pair is locked by locker 806, it keeps (or locks) the particular lens pair in a certain lens configuration, such that the particular lens pair (and the particular lens it forms) is fixed at a particular zoom factor.

A routine for testing and shipping the particular lens may be as follows: at the lens manufacturer, one may ensure that the particular lens pair satisfies a specific set of optical specifications. For the optical testing, in the shown configuration, aperture 309 is accessible for optical investigations. Given that specific optical specifications are fulfilled, lens transporter 800 including the particular lens pair of the particular G13 carrier and the particular G2 carrier is shipped to a camera manufacturer. The camera manufacturer can easily perform another optical investigation which may be independent of the investigation performed by the lens manufacturer by using lens transporter 800 including the particular lens pair as shipped. Given that specific optical specifications are found to be fulfilled, the camera manufacturer may assemble the particular lens pair in a FCZT camera.

FIG. 9A-9C shows an optical lens system 900 disclosed herein that may be included into a FCZT camera like camera 200. FIG. 9A shows optical lens system 900 in a first, minimal zoom state having an EFL_(MIN)=15 mm. FIG. 9B shows optical lens system 900 in a second, intermediate zoom state having an EFL=22.5 mm (which corresponds to (EFL_(MAX)−EFL_(MIN))/2). FIG. 9C shows optical lens system 900 in a third, maximum zoom state having an EFL_(MAX)=30 mm. The transition or switching from EFL_(MAX) to EFL_(MIN) or vice versa can be performed continuously, i.e. a FCZT camera such as FCZT camera 200 including system 900 can be switched to any other ZF that satisfies ZF_(MIN)≤ZF≤ZF_(MAX) (or EFL_(MIN)≤EFL≤EFL_(MAX)).

Optical lens system 900 comprises a lens 904, an optical element 906 and an image sensor 908. System 900 is shown with ray tracing. Optical element 906 is optional and may be for example an infra-red (IR) filter, and/or a glass image sensor dust cover. Like lens 204, lens 904 is divided into three lens groups G1, G2 and G3. G1 includes (in order from an object to an image side of optical system 200) lens elements L1-L3, G2 includes lens elements L4-L6 and G3 includes lens elements L7-L8. The lens elements included in each lens group are fixedly coupled to each other. As in lens 204, here too G1 and G3 are fixedly coupled and move together as one group G13, while G2 can move independently. Distances between the lens groups are marked d7 (between G1 and G2), d13 (between G2 and G3) and d17 (between G3 and optical element 906). Lens 904 includes a plurality of N lens elements L_(i). In lens 904, N=8. L₁ is the lens element closest to the object side and L_(N) is the lens element closest to the image side, i.e. the side where the image sensor is located. This order holds for all lenses and lens elements disclosed herein. Each lens element L_(i) comprises a respective front surface S_(2i-1) (the index “2i-1” being the number of the front surface) and a respective rear surface S_(2i) (the index “2i” being the number of the rear surface), where “i” is an integer between 1 and N. This numbering convention is used throughout the description. Alternatively, as done throughout this description, lens surfaces are marked as “S_(k)”, with k running from 1 to 2N.

Detailed optical data and surface data for system 900 are given in Tables 1-5. The values provided for these examples are purely illustrative and according to other examples, other values can be used.

Surface types are defined in Table 1. The coefficients for the surfaces are defined in Table 2. The surface types are:

a) Plano: flat surfaces, no curvature

b) Q type 1 (QT1) surface sag formula:

$\begin{matrix} {{z(r)} = {\frac{cr^{2}}{1 + \sqrt{1 - {\left( {1 + k} \right)c^{2}r^{2}}}} + {D_{con}(u)}}} & \left( {{Eq}.1} \right) \end{matrix}$ ${D_{con}(u)} = {u^{4}{\sum_{n = 0}^{N}{A_{n}{Q_{n}^{con}\left( u^{2} \right)}}}}$ ${u = \frac{r}{r_{norm}}},{x = u^{2}}$ Q₀^(con)(x) = 1Q₁^(con) = −(5 − 6x)Q₂^(con) = 15 − 14x(3 − 2x) Q₃^(con) = −{35 − 12x[14 − x(21 − 10x)]} Q₄^(con) = 70 − 3x{168 − 5x[84 − 11x(8 − 3x)]} Q₅^(con) = −[126 − x(1260 − 11x{420 − x[720 − 13x(45 − 14x)]})]

where {z, r} are the standard cylindrical polar coordinates, c is the paraxial curvature of the surface, k is the conic parameter, r_(norm) is generally one half of the surface's clear aperture, and An are the polynomial coefficients shown in lens data tables. The Z axis is positive towards image. Values for optical lens diameter D are given as a clear aperture radius, i.e. D/2. The reference wavelength is 555.0 nm. Units are in mm except for refraction index (“Index”) and Abbe #. Each lens element Li and each lens group Gi has a respective focal length, given in Table 3. The FOV is given as half FOV (HFOV). The definitions for surface types, Z axis, CA values, reference wavelength, units, focal length and HFOV are valid for all further presented tables.

Movements between the lens groups required for continuously switching lens 904 between EFL_(MIN) and EFL_(MAX) are given in Table 4. For switching lens 904 any state between the extreme states EFL_(MIN) and EFL_(MAX), a maximum movement (or stroke “s”) of G13 lens group S=6.4 mm is required. Thus, a ratio R of the EFL differences in the extreme states and S is R=(EFL_(MAX)−EFL_(MIN))/S=2.34. Maximizing R is desired, as a smaller strokes S are required for ZF switching. A maximum stroke S_(G2) of G2 lens group S_(G2)=0.16 mm is required.

Table 5 provides optical system 900's f number (“f/#”). The location as well as the size of the aperture of optical system 900 does not depend on the EFL, i.e. differences in the f/#for different ZF do depend solely on the differences in EFL. Therefore, f/# can be calculated by the equation:

f/#=f/# _(MIN)+(EFL−EFL _(MIN))/DA,f/# _(MIN) =EFL _(MIN) /DA,

where DA is the aperture diameter of lens 904. For 904, DA=6.4 mm.

TABLE 1 Group Lens Surface Type R [mm] T [mm] N_(d) V_(d) D/2 [mm] Object S₀ Flat Infinity Infinity Stop S₁ Flat Infinity −0.7086  3.2000 G1 L1 S₂ QTYP 7.2419 1.8921 1.4850 53.1782 3.2000 S₃ QTYP 18.7983 0.6032 3.0813 L2 S₄ QTYP 18.4947 1.1307 1.5468 56.0217 3.0283 S₅ QTYP −24.5222 0.4856 2.9873 L3 S₆ QTYP 19.5116 0.2717 1.6416 22.4819 2.8615 S₇ QTYP 7.4660 See Table 4 2.8093 G2 L4 S₈ QTYP −5.3754 1.3337 1.5316 56.1104 2.5621 S₉ QTYP −15.9453 0.2420 2.6618 L5 S₁₀ QTYP 19.9477 2.0247 1.6691 19.4419 2.7185 S₁₁ QTYP 10.9265 0.0743 3.2319 L6 S₁₂ QTYP 17.8434 2.4281 1.5449 55.9888 3.2716 S₁₃ QTYP −5.0714 See Table 4 3.4391 G3 L7 S₁₄ QTYP −5.4117 0.5848 1.6691 19.4419 3.1543 S₁₅ QTYP −4.0720 0.2398 3.1422 L8 S₁₆ QTYP −5.3924 0.5109 1.5449 55.9888 3.0367 S₁₇ QTYP 22.8720 See Table 4 3.2126 Optical element S₁₈ Flat Infinity 0.2100 1.5168 64.1673 S₁₉ Flat Infinity 0.6100 Image sensor S₂₀

TABLE 2 Conic Surface (k) NR A₀ A₁ A₂ A₃ A₄ A₅ A₆ S₂ 0 3.2996E+00  1.4578E−02 8.1846E−04 −5.2650E−04 3.2739E−05 2.2991E−05 −1.5238E−05  9.0778E−06 S₃ 0 3.1111E+00 −4.7503E−02 −2.5635E−03  −2.8686E−03 4.4388E−04 4.3289E−05  4.1160E−05  7.0504E−07 S₄ 0 3.0452E+00 −7.4665E−02 −1.3899E−02  −3.7781E−03 1.9778E−04 2.1081E−04  1.4152E−04 −2.4738E−06 S₅ 0 2.9831E+00  2.7342E−02 −2.2857E−02   1.7016E−03 −9.6127E−04  5.6619E−04  3.2149E−05 −5.8355E−06 S₆ 0 2.8497E+00 −2.3323E−01 2.0669E−02  7.7476E−04 −1.5206E−03  7.3176E−04 −1.5529E−04  6.0820E−05 S₇ 0 2.7886E+00 −2.6245E−01 2.9166E−02 −1.3099E−03 −7.8867E−04  4.1286E−04 −1.2422E−04  5.7348E−05 S₈ 0 2.7467E+00  3.7747E−01 −2.8367E−02   2.9782E−03 −2.3877E−04  6.1869E−05 −2.5424E−05 −2.6538E−05 S₉ 0 2.8012E+00  5.1129E−01 −1.3373E−02   1.9467E−03 8.9892E−04 5.2088E−04  2.5628E−04 −2.0992E−04 S₁₀ 0 2.8415E+00 −1.1251E−01 4.0492E−03 −3.4345E−03 2.8249E−04 4.2133E−04  3.1735E−04 −9.4213E−05 S₁₁ 0 3.2534E+00 −1.8329E−01 6.4822E−03 −6.6190E−03 1.1926E−03 2.9039E−04 −1.5236E−04 −1.9633E−04 S₁₂ 0 3.2884E+00  2.5239E−02 −1.0904E−02  −6.3097E−04 1.7412E−03 5.3182E−04 −1.6865E−04 −1.7726E−04 S₁₃ 0 3.4647E+00  6.8814E−03 −7.1947E−03   2.2200E−03 1.1803E−03 5.4568E−04  2.2585E−04  9.6903E−05 S₁₄ 0 3.1726E+00  2.8217E−01 1.8130E−02  9.6878E−03 4.1604E−04 4.0094E−04  4.2186E−04 −7.6384E−05 S₁₅ 0 3.1884E+00  4.5009E−01 2.6502E−02  1.5777E−02 −9.3450E−05  1.1016E−03  3.9066E−04 −5.4700E−05 S₁₆ 0 3.1586E+00 −1.1232E−01 2.5743E−02 −2.0000E−03 4.9250E−04 6.3863E−04 −3.7847E−04  2.7701E−05 S₁₇ 0 3.3731E+00 −2.5740E−01 4.2164E−02 −8.5771E−03 3.3500E−03 −3.5260E−04  −1.1751E−04  1.0286E−04

TABLE 3 Lens # Lens or group focal length [mm] L1 22.9742 L2 19.4119 L3 −18.8660 L4 −15.9017 L5 −39.3424 L6 7.5043 L7 20.7171 L8 −7.9309 G1 20.9457 G2 13.8027 G3 −12.2743

TABLE 4 Configuration 1 Configuration 2 Configuration3 EFL = 15 mm EFL = 22.5 mm EFL = 30 mm T [mm] S₇ 1.4118 5.1246 7.8118 S₁₃ 6.5013 2.7885 0.1013 S₁₇ 0.9176 4.6456 7.3176

TABLE 5 Configuration 1 Configuration 2 Configuration3 EFL = 15 mm EFL = 22.5 mm EFL = 30 mm f/# 2.34 3.52 4.69 For switching ZF, G13 is moved with a large stroke of e.g. 2 mm-15 mm with respect to G2 and with respect to image sensor 908. G2 is moved with a small stroke of e.g. 0.1 mm-5 mm with respect to G13 and with respect to image sensor 208. For focusing, G13 and G2 are moved together as one lens with respect to image sensor 908. Lens 904 may be a cut lens as known in the art, as shown exemplarily in FIG. 10 . For example, lens 904 may have a D-cut ratio may be 0%-50%.

FIG. 10 shows an example a cut lens as known in the art and numbered 1000. The coordinate system shown is the same coordinate system shown in FIG. 9A-9C. Cut lens 1000 is cut along an axis parallel to the x axis at the sides marked 1002 and 1004. At the sides marked 1006 and 1008, lens 1000 is not cut. Therefore, lens 1000 has an optical lens width W_(L) (measured along the x axis) which is larger than its optical lens height H_(L-CUT) (measured along the y axis). Using a cut lens such as lens 1000 is beneficial in folded cameras, as it supports slim camera height while still providing a relatively large aperture area (AA) of AA>H_(L-CUT) ² and AA>(H_(L-CUT)/2)²·π. For a lens element that determines the aperture of a camera, the optical lens height and width is equivalent to the height and the width of the aperture of the lens, i.e. H_(L-CUT)=H_(A) and W_(L)=W_(A) In optical lens system 900, lens elements which determine the lens aperture may be cut, meaning that W_(A)>H_(A) is fulfilled.

FIG. 11 shows an example of a cut prism as known in the art and numbered 1100. The coordinate system shown is the same coordinate system shown in FIG. 9A-9C. Cut prism 1100 is cut along an axis parallel to the x axis at the side marked 1104. At the side marked 1102, prism 1100 is not cut. As shown, an optical width of cut prism 1100 (“W_(P)”, measured along the x axis) is larger than an optical height of cut prism 1100 (“H_(P-CUT)”, measured along the y axis) by 0%-30%. A cut prism may be beneficial for obtaining a slim camera having a low camera height that still lets in a relatively large amount of light.

Furthermore, for the sake of clarity the term “substantially” is used herein to imply the possibility of variations in values within an acceptable range. According to one example, the term “substantially” used herein should be interpreted to imply possible variation of up to 10% over or under any specified value. According to another example, the term “substantially” used herein should be interpreted to imply possible variation of up to 5% over or under any specified value. According to a further example, the term “substantially” used herein should be interpreted to imply possible variation of up to 2.5% over or under any specified value.

While this disclosure describes a limited number of embodiments, it will be appreciated that many variations, modifications and other applications of such embodiments may be made. In general, the disclosure is to be understood as not limited by the specific embodiments described herein, but only by the scope of the appended claims.

All references mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual reference was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present application. 

1. A camera, comprising: an optical path folding element (OPFE) for folding a first optical path OP1 to a second optical path OP2; a lens including N lens elements, the lens being divided into three lens groups numbered, in order from an object side of the lens, G1, G2 and G3; and an image sensor, wherein the camera is a folded Tele camera, wherein G1 and G3 are included in a single G13 carrier, wherein G2 is included in a G2 carrier, wherein the Tele camera is configured to change a zoom factor (ZF) continuously between a minimum zoom factor ZF_(MIN) and a maximum zoom factor ZF_(MAX) by moving the G13 carrier relative to the G2 carrier and by moving the G2 carrier relative to the image sensor, and wherein an effective focal length (EFL) is 7.5 mm<EFL<50 mm.
 2. The camera of claim 1, wherein both the G13 carrier and the G2 carrier include rails for defining the position of G2 relative to G13.
 3. The camera of claim 1, wherein for switching from ZF_(MIN) and ZF_(MAX), the movement of the G13 carrier relative to the G2 carrier is over a stroke larger than 2 mm and smaller than 15 mm, and wherein the movement of the G2 carrier with respect to the image sensor is over a stroke larger than 0.1 mm and smaller than 5 mm.
 4. The camera of claim 1, wherein for switching from ZF_(MIN) and ZF_(MAX), the movement of the G13 carrier relative to the G2 carrier is over a stroke larger than 4 mm and smaller than 10 mm, and wherein the movement of the G2 carrier with respect to the image sensor is over a stroke larger than 0.1 mm and smaller than 2 mm.
 5. The camera of claim 1, wherein the folded Tele camera is configured to be focused by moving lens groups G1+G2+G3 together as one lens.
 6. The camera of claim 1, wherein N=8.
 7. The camera of claim 1, wherein the folded Tele camera is included in a camera module having a module height H_(M), wherein the lens has a lens aperture height H_(A), wherein both H_(M) and H_(A) are measured along an axis parallel to OP1, and wherein H_(M)<H_(A)+3 mm.
 8. (canceled)
 9. The camera of claim 1, wherein the lens is a cut lens with a cut lens aperture height H_(A-CUT) measured along an axis parallel to OP1 and with a lens aperture width W_(A) measured along an axis perpendicular to both OP1 and OP2, and wherein W_(A) is larger than H_(A-CUT) by between 5% and 50%. 10-11. (canceled)
 12. The camera of claim 1, wherein lens groups G1 and G2 include 3 lens elements and wherein lens group G3 includes 2 lens elements.
 13. The camera of claim 1, wherein lens groups G1 and G2 have positive lens power and wherein lens group G3 has negative lens power.
 14. The camera of claim 1, wherein the EFL is switched continuously between a minimal effective focal length EFL_(MIN) corresponding to ZF_(MIN) and a maximal effective focal length EFL_(MAX) corresponding to ZF_(MAX), and wherein a ratio EFL_(MAX)/EFL_(MIN)>1.5.
 15. (canceled)
 16. The camera of claim 14, wherein EFL_(MIN) is in the range of 7.5 mm-25 mm and wherein EFL_(MAX) is in the range of 20 mm-50 mm.
 17. The camera of claim 14, wherein a maximum lens stroke S is required for switching from EFL_(MIN) to EFL_(MAX) or vice versa, wherein a ratio R is given by R=(EFL_(MAX)−EFL_(MIN))/S, and wherein R>1.75.
 18. The camera of claim 17, wherein R>2.
 19. The camera of claim 1, wherein the folded Tele camera has an aperture diameter DA, and wherein DA does not depend on the EFL.
 20. The camera of claim 1, wherein the folded Tele camera has an aperture diameter DA, and a f number f/#, wherein a minimal EFL corresponding to ZF_(MIN) is EFL_(MIN), wherein a minimal f number f/#MIN=EFL_(MIN)/DA, and wherein f/#=f/#_(MIN)+(EFL−EFL_(MIN))/DA.
 21. The camera of claim 1, wherein the folded Tele camera has an aperture diameter DA and a minimum f number f/#_(MIN), wherein a minimal EFL corresponding to ZF_(MIN) is EFL_(MIN), f/#_(MIN)=EFL_(MIN)/DA and wherein f/#_(MIN) is <3.
 22. (canceled)
 23. The camera of claim 1, wherein the OPFE is a prism.
 24. The camera of claim 23, wherein the prism is a cut prism with a prism optical height H_(P-CUT) measured along an axis parallel to OP1 and a prism optical width W_(P) measured along an axis perpendicular to both OP1 and OP2, and wherein W_(P) is larger than H_(P-CUT) by between 5% and 30%. 25-27. (canceled)
 28. The camera of claim 1, wherein the folded Tele camera is included in a smartphone.
 29. (canceled) 